Some problems arising during first tests on the tripod motion control

[pattacini]

After the preliminary tests we ran to check the control of the tripod we can report on the following problems we need to address:

• [x] yarpmotorgui needs to be extended to expose fractional slider steps (see https://github.com/robotology/yarp/issues/628).
• solver related bugs/improvements:
  • [x] the state port streams out the pitch and the roll in radians instead of degrees (fixed via https://github.com/robotology/cer/commit/641bb41b826e95be73e42597eaa04b517ef9a41c).
  • [x] account for the roto-translation matrix T0 (addressed via #6).
• tripodMotionControl related bugs/improvements:
  • [x] handle a configurable T0 (via https://github.com/robotology/cer/commit/f500cc7747b48eca20368e4416e76af6b6d63100).
  • [x] compute proper speed on the fly for each joint so that the joints will attain the desired targets at the same time.
  • [x] seg-fault caught when cleaning memory at shut-down (fixed via https://github.com/robotology/cer/commit/392603324ff35fef113fbef51b0dbd7a6b982e3d).
• FW related bugs/improvements:
  • [x] we have to make sure that both the FW and the solver will use the same structure's bounds (done).
  • [x] the FW gets somehow stuck when an angular limit is reached (fixed).
  • [x] calibration of the torso (see https://github.com/robotology/icub-firmware/issues/25 done).
  • [x] when the low-level limit checker kicks in stopping the motion of the tripod, we agreed to make the desired set-points equal to the current encoders values (fixed via https://github.com/robotology/icub-firmware/commit/d6ffe3a8399ea4ff6b70a99343008c7b7caedd8f).

These are all minor bugs/improvements since we were happy to see the tripod moving correctly in most configurations.

/cc @ale-git @barbalberto @randaz81

[ale-git]

Fixed low level tilt limit stuck bug by https://github.com/robotology/icub-firmware/commit/1eb755bff1ab7a2972f9bf9cb7fb03e9477b5e09

[ale-git]

The high level tilt limit has been deacreased to 25 degrees, the same in the low level control. 25 degrees is close to the mechanical limit.

[pattacini]

:+1:

[pattacini]

@barbalberto could we imagine to try to meet the on-the-fly speed computation requirement by tomorrow morning so that we can run a further test before the meeting?

[barbalberto]

I'll start working on it right now

[pattacini]

Great! :+1:

[barbalberto]

Commits done! Let's meet monday morning to re-test everything!!!

@ale-git @pattacini

[pattacini]

@barbalberto is the seg-fault fixed?

[barbalberto]

On my laptop yes, final word on this to @ale-git

[ale-git]

I haven't seen seg-faults any more after the fix.

[pattacini]

:+1: Let's tick this as fixed then.

[pattacini]

Hi @ale-git We've identified two new points (I've reported in the first post) we have to go through before considering the deadline met. Could you work on these?

[ale-git]

The setpoint issue is fixed, the calibration requires a little more time, I'll manage to close it today anyway.

[pattacini]

Great! Thanks.

[pattacini]

The latest yarpmotorgui is under test (see https://github.com/robotology/yarp/issues/628) but it already implements the fractional step sliders in a dedicated branch, which is waiting to be merged into master.

All the other issues have been addressed successfully, closing...